Net Loss Per Share Attributable to Common Stockholders - Summary of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Numerator:
Net Income (Loss)	$ (124,651)	$ (101,052)
Denominator:
Weighted-average common shares outstanding	58,046,553	58,111,437
Less: weighted-average unvested restricted shares and shares subject to repurchase	(1,031,394)	(3,237,762)
Weighted-average shares used in computing net loss per share-basic	57,015,159	54,873,675
Weighted-average shares used in computing net loss per share-diluted	57,015,159	54,873,675
Net loss per share attributable to common stockholders-basic	$ (2.19)	$ (1.84)
Net loss per share attributable to common stockholders-diluted	$ (2.19)	$ (1.84)